Bischoff - KUKA youBot - a milestone for education and ... · KUKA youBot – a milestone for...

KUKA youBot – a milestone for education and research in mobile manipulation

R. BischoffKUKA Laboratories GmbHAugsburg, Germany

IEEE ICRA Workshop “A new generation of educational robots”Shanghai International Convention Center, China13 May 2011

www.kuka-labs.comKUKA youBot – a milestone for education and research in mobile manipulationKUKA Laboratories GmbH | Rainer Bischoff | 13.05.2011 |

Overview

� Short introduction to KUKA

� Motivation for research and education in mobile manipulation

� KUKA youBot

� BRICS Mobile Manipulation Challenge

� Results from first BRICS Research Camp

� Outlook


KUKA Laboratories GmbH

Produktions-Assistent

Medizinrobotik productionassistant

service robotics

medical robotics

Source: Universitätsklinik Heidelberg

� core technology development

� technology platforms

� products for new markets

products forresearch and education


Motivation for developing products according to researchers’ needs

� research market very small, but non-negligible

� marketing instrument

� today’s students become engineers and decision makers

� researchers should focus on their research

� faster transfer of research results

MMbasic

research

MMbasic

research MMapplication

developmentfor the factoryof the future

MMapplication

developmentfor the factoryof the future

MM

educationMM

education

Hot topic in robotics research:mobile manipulation

solution:KUKA youBot!


Industrial relevance of mobile manipulation


Open research problems in mobile manipulation

� seamless integration of planning and control

� cognitively plausible, task effective, and natural choreography of motion

� revision and adaptation of tasks and motion plans

� integration of 3D perception, mapping and modeling

� resource management (sensing for locomotion vs. sensing for manipulation)

� robotics software engineering (component models, model driven engineering)

� robot control architectures

� self-perception, self-modeling, self-awareness

� non-functional aspects: robustness and dependability, openness, reusability

IPA Rob@Work2 IPA Care-o-Bot

BRSU Johnny DESIRE

DLRJustin


KUKA youBot – a new mobile manipulator for research and education

� omnidirectional mobile platform

� 5-DOF manipulator

� two-finger gripper

� real-time EtherCAT communication

� open interfaces

� arm and platform can be used independently

KUKA youBot arm and labyrinth – remotely controlled by Nintendo Wii controller

© University of Augsburg Software Engineering

KUKA youBot atwww.youbot-store.com


KUKA youBot – a new mobile manipulator for research and education

youBot arm & gripper youBot platform

youBot System with 1 arm youBot system with 2 arms

� 5 axes

� 2-finger gripper

� height: 655 mm

� mass: 6.3 kg

� payload: 0.5 kg

� magnesium cast

� 24 Volts

� 4 KUKA omniWheels

� length: 580 mm

� width: 360 mm

� weight: 24 kg

� payload: 20 kg

� steel structure

� 24 Volts


youBot arm + gripper

80 WPower can be limited to

24 VVoltage connection

EtherCATCommunication

1 mmPositioning repeatability

Magnesium castStructure

0.5 kgPayload

6.3 kgWeight

0.513 m³Work envelope

655 mmHeight

5 axesSerial kinematics

General characteristics: youBot arm

70 mmRange

20 mmStroke

Detachable, 2 fingersGripper data


youBot platform

24 VVoltage connection

EtherCATCommunication

0.8 m/sSpeed

SteelStructure

20 kgPayload

20 kgWeight

20 mmClearance

140 mmHeight

380 mmWidth

580 mmLength

4 KUKA omniWheelsOmnidirectional kinematics

General characteristics: youBot platform

Energy supplymaintenance-free lead acid rechargeable batteries: 24 V, 5 Ah, 4 kgApproximate runtime of youBot mobile manipulator: 90 minutespower adapter: 200 W, 24 V

On-board PCmini IT X PC-Board with embedded CPU (Intel Atom Dual Core), 2 GB RAM,32 GB Solid State Disk, 2 LAN Ports, 8 x USB, 6 x COM


youBot system

all pictures/videos rendered withwww.blender.org


KUKA youBot and omniMove system with KUKA Titan


Importance of the Internet

� viral marketing

� from 0 to>20.000 Google hits in 10 days

� Tech Blogs� IEEE Spectrum

� Hizook

� Golem

� botjunkie

� youTube video� > 10000 views

� webshop from 01.09.


Market

� Universities, colleges

� research centers

� vocational schools, secondary schools

� list prices:� arm: 13.990,- EUR

� platform: 9.990,- EUR

� system with 1 arm: 19.990,- EUR

� system with 2 arms: 32.990,- EUR

� various discounts for academia

� sales:� Internet (via partner Locomotec)

� www.youbot-store.comhttp://www.facebook.com/KUKAyouBot

http://twitter.com/KUKAyouBot


Invitation of 20 top PhD students from all over the world to an inspiring location

� Task:

� identify best practice algorithms, e.g.:Mobile Manipulation incl. inverse kinematics,3D Perception and Modelling, SLAM, …

� Make sure everybody has a lot of fun and in the end also has a scientific benefit.

� Work with the latest and coolest pieces of robot hardware available today:

BRICS - Best Practice in Robotics1st BRICS Research Camp on Mobile ManipulationMalaga, Costa de Sol, Spain24 - 29 October 2010

The top 20 robotics Ph.D. students worldwide with a solid background in mobilemanipulation are invited to gather for one week in a stimulating environmentto explore, revise and improve what are considered the best practice algorithmsin mobile manipulation today. The intended outcome of the research camp is an open source library of refactored and harmonized mobile manipulation algorithms.

We will provide

• an inspiring working environment • travel grants to get to this inspiring working environment:

1250 € for European students, 2000 € for international students• the latest and coolest pieces of robot hardware in mobile manipulation,especially for education and research in mobile manipulation

• a DVD with an initial set of software modules for mobile manipulation and 3D perception and modelling

• a fast Internet access• two typical mobile manipulation tasks/scenarios

We expect in return

• a competitive solution to the given tasks either using the provided or self-developed algorithms for mobile manipulation demonstratedin two competitions on the last day of the research camp

• critical feedback and revisions of the provided hardware and software

Applications should include

• CV with publication list• letters of reference from two different faculties

and should be sent to:

Thilo ZimmermannGesellschaft für Produktionssysteme GPSNobelstr. 12D-70569 StuttgartGERMANYemail: [email protected]

ScheduleJune 15, 2010 Submission of applicationsJuly 15, 2010 Notification of acceptance or rejection

AcknowledgementThis activity is supported by the European Commission ICT Challenge 2 under grant agreement no. 231940

www.best-of-robotics.org

5 youBots Care-o-Botwith LWR

2 LWRs


Best Practice in Robotics – BRICS Mobile Manipulation Challenges

Challenge 1:place and pick up object while stopping

Challenge 2:place and pick up object while moving



Challenge 3: hand over object while moving



Challenge 4: demonstrate the re-use of software on different robot hardware


Schedule of the first day (Monday, October 25, 2010)07:30 – 08:15 Breakfast 08:15 – 09:00 Welcome

• Rainer Bischoff and Erwin Prassler Introduction • Erwin Prassler: BRICS (20 min) • Erwin Prassler: Objectives and expected results of research camp (15 min) • Thilo Zimmermann: Organizational issues (10 min)

09:00 – 09:45 Presentation of hardware (without interfaces) • Rainer Bischoff: youBot • Rainer Bischoff: two-arm system • Alexander Bubeck: Care-O-bot • Tim Guhl: Safety Introduction

09:45 – 10:15 Putting your hands on the hardware 10:15 – 10:45 In the bar: Setting up the teams (Alexander Bubeck) 10:45 – 11:15 Lesson on “So far so Good Practice Interfaces” (20+10)

• Özgür Sen: youBot interface • Herman Bruyninckx: FRI / LBR • Florian Weißhardt: Care-o-Bot

11:15 – 11:30 Alexander Bubeck: Infrastructure and tools 11:30 – 13:00 Teamwork work on tasks with the support of the coaches 13:00 – 14:30 Lunch 14:30 – 15:00 “After lunch” lesson on Best Practice

• Jan Paulus: OODL 15:00 – 18:00 Teamwork work on tasks with the support of the coaches 18:00 – 20:00 Debriefing

• Presentation of results by teams – Demo and explanation of software / – Presentation (4 slides)

• What have you done? • How have you done it? • What major problems and challenges had to be solved? • Which major insights and lessons have you gained?

• Discussion of open issues • Guest lecture: Christoph Borst

20:00 – 21:00 Dinner 21:00 – In the bar: open discussion on best practice issues

In the lab: further programming for the hardcore hackers

Reports byeach of the6 groups

Preparationof next day

Programming till 1:30 am!


Results – youBot


KUKA products for research and education

KUKA Lightweight Robot

� industry-proven robot arm controller

� control cycle 1 ms

� Fast Research Interface(1 – 100 ms access to LWR control parameters)

KUKA omniRob

� advanced controller for mobile manipulation

� control cycle 1 ms

� Fast Research Interface(in work)

KUKA youBot

� open source controller

� control cycle <1 ms

� direct access to drive position, velocity and current control

scalability scalability


Summary and conclusions

� KUKA youBot – an exciting new robot for education and researchin mobile manipulation

� new ways for KUKA to address the market and the robotics community� open source

� new marketing

� sales and support over the Internet

� BRICS – Best practice in robotics

� mobile manipulation challenges


Outlook

� RoboCup@Work – a new league

� Exhibition / demonstration: RoboCup Istanbul, July 5-11 July 2011


Thank you! – Questions?

[email protected]

Source: RWTH Aachen

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